/*
 * Copyright (c) 2011 Jean-Marc Perronne
 * Ensisa, 12 rue des Freres Lumieres, F-68093 Mulhouse cedex
 * All rights reserved.
 *
 * The copyright of this software is owned by Werner Randelshofer. 
 * You may not use, copy or modify this software, except in  
 * accordance with the license agreement you entered into with  
 * Jean-Marc Perronne. For details see accompanying license terms. 
 */

package fr.uha.ensisa.jmp.drone.navdata.options;

import fr.uha.ensisa.jmp.drone.navdata.Matrix33;
import fr.uha.ensisa.jmp.drone.navdata.NavdataOption;
import fr.uha.ensisa.jmp.drone.navdata.Vector31;


public class NavdataDemo extends NavdataOption
{
	/*144 bytes*/
	

	public long ctrl_state; /* uint !< instance of #def_mykonos_state_mask_t */
	public long vbat_flying_percentage; /* uint !< battery voltage filtered (mV) */

	public float theta; /* !< UAV's attitude */
	public float phi; /* !< UAV's attitude */
	public float psi; /* !< UAV's attitude */

	public int altitude; /* !< UAV's altitude */

	public float vx; /* !< UAV's estimated linear velocity */
	public float vy; /* !< UAV's estimated linear velocity */
	public float vz; /* !< UAV's estimated linear velocity */

	public long num_frames; /* uint !< streamed frame index */

	// Camera parameters compute by detection
	public Matrix33 detection_camera_rot;	/*!<  Deprecated ! Don't use ! */
	public Vector31 detection_camera_trans; /*!<  Deprecated ! Don't use ! */
	 
	public long detection_tag_index;	/*!<  uint Deprecated ! Don't use ! */
	public long detection_camera_type;	/*!<  uint Deprecated ! Don't use ! */

	// Camera parameters compute by drone
	public Matrix33 drone_camera_rot;
	public Vector31 drone_camera_trans;

	
	
	public String toString()
	{
		StringBuilder tmp = new StringBuilder('[');
		tmp.append(']');
		return tmp.toString();
	}

	@Override
	public void accept(OptionsVistor v)
	{
		v.visitNavdataDemo(this);
		
	}

}
